Following my previous post that has not really been responded to, I am now trying to integrate the PX4Flow optical flow sensor into the Intel Aero. As previously mentioned, the current setup is the Intel Aero running Ubuntu 16.04 on the compute board and PX4 on the flight controller side.
aero-get-version.py returns the following:
BIOS_VERSION = Aero-01.00.16
OS_VERSION = Ubuntu 16.04.4 LTS"
AIRMAP_VERSION = unknown
FPGA_VERSION = 0xc2
AeroFC firmware version = 1.8.0
Initially, I followed the toolchain setup in this document and then proceeded to download the source code as instructed here. After lots of fiddling around with stuff, I finally got to build the code with the PX4Flow driver, as well as enabling it to start that drive upon startup. Although kinda noisy, the sections for OPTICAL_FLOW_RAD and DISTANCE_SENSOR are present in the MAVLink Inspector and show realistic current values. This was all good until I rebooted the UAV, after which I've started getting these critical errors:
"Critical:PREFLIGHT FAIL: EKF INTERNAL CHECKS" &
"Critical:PREFLIGHT FAIL: EKF HGT ERROR" &
"Critical:PREFLIGHT FAIL: EKF YAW ERROR"
As well, in the realtime simulated "aircraft view" widget in QGroundControl that shows vehicle orientation, the axis's are all off by +- 40 degrees. Initially, I attributed this to sensor calibration so I went through the calibration multiple times and none affected anything. Each calibration also took a few tries as I repeatedly got the errors:
"Critical: ERROR: invalid orientation" and another error regarding reading the terraone parameter [which I'm not using]
During a period where error's didn't come up, I armed the UAV handheld and when some of the error's came up, the UAV disarmed itself "midflight" which worries me about what might happen if it were actually flying. I will add though that before attempting to implement the px4flow, I was getting the "MAG0 FAIL: Preflight selfcheck failed" [or something like that] error.
I'm not really sure how to continue so your assistance would be much appreciated.
-What happened to the entire px4 downloads page? like it just disappeared, and the google cache only shows the text, not the downloadable drivers etc... it made setting up the px4flow very....difficult.
-Initially I setup the optical flow to work with the original intel aero downwards facing camera, but now that I have the px4flow, how do I switch it to use that instead? Currently I've just unplugged the bottom camera but I'd like to be able to use it for other things later
-I will be operating mostly indoors where I do not trust the magnetic "interference" so was wondering if there's a way to disable the magnetometer? It was brought up in this conversation but I could not find the parameter anywhere. If someone could explain the workaround a bit more clearly that would be great.
Thanks in advance,